Consider the system G(s) below, controlled by a proportional controller. u K G(s)=- (s+1) (s+2) a) Make a manual plot of the Nyquist diagrams for the open-loop transfer function for K=1. Document all steps in the calculations. (5p) b) Determine the condition on K required to achieve a stable closed loop system (5p) An exact condition on K gives 5p while a correct approximation gives 2p